Advancing whisker based navigation through the implementation of bio-inspired whisking strategies

Salman, M; Pearson, Martin

Abstract

An active whisking tactile sensor array has been
successfully integrated with the RatSLAM algorithm and
demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introduced in order to evaluate the impact in performance of whisker-RatSLAM through the adoption of a biomimetic active whisker control scheme and different approaches to tactile sensory pre-processing. Improvements in performance are presented and discussed with respect to how whisker-RatSLAM could form the basis of a computationally efficient and robust localisation and mapping algorithm to adopt for tactile robotic exploration.

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: IEEE International Conference On Robotics And Biomimetics (ROBIO 2016)
• Start Date: Dec 3, 2016
• End Date: Dec 7, 2016
• Acceptance Date: Sep 23, 2016
• Publication Date: Jan 1, 2016
• Deposit Date: Nov 28, 2016
• Journal: IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
• Peer Reviewed: Peer Reviewed
• ISBN: 9781509043651
• Keywords: bio-inspired, whiskers, robots
• Public URL: https://uwe-repository.worktribe.com/output/922980
• Publisher URL: http://dx.doi.org/10.1109/ROBIO.2016.7866416
• Additional Information: Title of Conference or Conference Proceedings : IEEE International Conference On Robotics And Biomimetics (ROBIO 2016)
• Contract Date: Nov 28, 2016